/*******************************************************************************
 * Copyright 2011 See AUTHORS file.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ******************************************************************************/

package com.badlogic.gdx.physics.box2d.joints;

import com.badlogic.gdx.physics.box2d.Joint;
import com.badlogic.gdx.physics.box2d.World;

/**
 * A revolute joint constrains two bodies to share a common point while they are free to rotate about the point. The relative
 * rotation about the shared point is the joint angle. You can limit the relative rotation with a joint limit that specifies a
 * lower and upper angle. You can use a motor to drive the relative rotation about the shared point. A maximum motor torque is
 * provided so that infinite forces are not generated.
 */
public class RevoluteJoint extends Joint {
	/*JNI
#include <Box2D/Box2D.h> 
	 */

    public RevoluteJoint(World world, long addr) {
        super(world, addr);
    }

    /**
     * Get the current joint angle in radians.
     */
    public float getJointAngle() {
        return jniGetJointAngle(addr);
    }

    private native float jniGetJointAngle(long addr); /*
		b2RevoluteJoint* joint = (b2RevoluteJoint*)addr;
		return joint->GetJointAngle();
	*/

    /**
     * Get the current joint angle speed in radians per second.
     */
    public float getJointSpeed() {
        return jniGetJointSpeed(addr);
    }

    private native float jniGetJointSpeed(long addr); /*
		b2RevoluteJoint* joint = (b2RevoluteJoint*)addr;
		return joint->GetJointSpeed();
	*/

    /**
     * Is the joint limit enabled?
     */
    public boolean isLimitEnabled() {
        return jniIsLimitEnabled(addr);
    }

    private native boolean jniIsLimitEnabled(long addr); /*
		b2RevoluteJoint* joint = (b2RevoluteJoint*)addr;
		return joint->IsLimitEnabled();
	*/

    /**
     * Enable/disable the joint limit.
     */
    public void enableLimit(boolean flag) {
        jniEnableLimit(addr, flag);
    }

    private native void jniEnableLimit(long addr, boolean flag); /*
		b2RevoluteJoint* joint = (b2RevoluteJoint*)addr;
		joint->EnableLimit(flag);
	*/

    /**
     * Get the lower joint limit in radians.
     */
    public float getLowerLimit() {
        return jniGetLowerLimit(addr);
    }

    private native float jniGetLowerLimit(long addr); /*
		b2RevoluteJoint* joint = (b2RevoluteJoint*)addr;
		return joint->GetLowerLimit();
	*/

    /**
     * Get the upper joint limit in radians.
     */
    public float getUpperLimit() {
        return jniGetUpperLimit(addr);
    }

    private native float jniGetUpperLimit(long addr); /*
		b2RevoluteJoint* joint = (b2RevoluteJoint*)addr;
		return joint->GetUpperLimit();
	*/

    /**
     * Set the joint limits in radians.
     *
     * @param upper
     */
    public void setLimits(float lower, float upper) {
        jniSetLimits(addr, lower, upper);
    }

    private native void jniSetLimits(long addr, float lower, float upper); /*
		b2RevoluteJoint* joint = (b2RevoluteJoint*)addr;
		joint->SetLimits(lower, upper );
	*/

    /**
     * Is the joint motor enabled?
     */
    public boolean isMotorEnabled() {
        return jniIsMotorEnabled(addr);
    }

    private native boolean jniIsMotorEnabled(long addr); /*
		b2RevoluteJoint* joint = (b2RevoluteJoint*)addr;
		return joint->IsMotorEnabled();
	*/

    /**
     * Enable/disable the joint motor.
     */
    public void enableMotor(boolean flag) {
        jniEnableMotor(addr, flag);
    }

    private native void jniEnableMotor(long addr, boolean flag); /*
		b2RevoluteJoint* joint = (b2RevoluteJoint*)addr;
		joint->EnableMotor(flag);
	*/

    private native void jniSetMotorSpeed(long addr, float speed); /*
		b2RevoluteJoint* joint = (b2RevoluteJoint*)addr;
		joint->SetMotorSpeed(speed);
	*/

    /**
     * Get the motor speed in radians per second.
     */
    public float getMotorSpeed() {
        return jniGetMotorSpeed(addr);
    }

    /**
     * Set the motor speed in radians per second.
     */
    public void setMotorSpeed(float speed) {
        jniSetMotorSpeed(addr, speed);
    }

    private native float jniGetMotorSpeed(long addr); /*
		b2RevoluteJoint* joint = (b2RevoluteJoint*)addr;
		return joint->GetMotorSpeed();
	*/

    /**
     * Set the maximum motor torque, usually in N-m.
     */
    public void setMaxMotorTorque(float torque) {
        jniSetMaxMotorTorque(addr, torque);
    }

    private native void jniSetMaxMotorTorque(long addr, float torque); /*
		b2RevoluteJoint* joint = (b2RevoluteJoint*)addr;
		joint->SetMaxMotorTorque(torque);
	*/

    /**
     * Get the current motor torque, usually in N-m.
     */
    public float getMotorTorque(float invDt) {
        return jniGetMotorTorque(addr, invDt);
    }

    private native float jniGetMotorTorque(long addr, float invDt); /*
		b2RevoluteJoint* joint = (b2RevoluteJoint*)addr;
		return joint->GetMotorTorque(invDt);
	*/
}
